#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTMotor,  HTServo)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     HTSMUX,         sensorI2CCustom)
#pragma config(Sensor, S3,     HTGYRO,         sensorAnalogInactive)
#pragma config(Sensor, S4,     Sonic,          sensorSONAR)
#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorC,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  mtr_S1_C1_1,     Left,         tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C1_2,     Rear,         tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C2_1,     Right,          tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C2_2,     Front,          tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C3_1,     Sweeper,       tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     Redirect,      tmotorTetrix, openLoop)
#pragma config(Servo,  srvo_S1_C4_1,    Hook,                 tServoStandard)
#pragma config(Servo,  srvo_S1_C4_2,    Hook2,                tServoStandard)
#pragma config(Servo,  srvo_S1_C4_3,    BallRedirect,         tServoStandard)
#pragma config(Servo,  srvo_S1_C4_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.
#include "AutonomousHeaderDice.h"


task main()
{
	initializeRobot();
	waitForStart();

	wait10Msec(10);//Gets the robot to the neutral position
	moveOffRamp(50);
	wait10Msec(5);
	rampToGoal();
	getMovingGoal();


	moveToKickstand();

}
